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Adding support for AprilTag v3 library (#1702)

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* Adding support for AprilTag v3 library

* New parameter: Marker/Strategy (default opencv-aruco as before). Optimized multicameras marker detection (do only once with stitched image)

* Exposed all AprilTag parameters. Sharing Marker/Dictionary between opencv and apriltag implementation. Added new Marker/Lengths parameter.

* Support AprilTAg library not built with aruco

* cleanup

* Added marker range support

* Make apriltag detection in same orientation than opencv

* fixed shenanigans when rendering markers with multi cameras

* Don't update odom cache (localization mode) when not moving (detecting loop/landmark or not)

* fixed some quirks (camera viewer + tag working)

* Setting quad decimate to 1 by default

* typo

* Implemented OptimizerG2O::loadGraph()

* added apriltag's aruco support info in the cmake config summary

* fixed warning

* fixed isam2 assert when using landmarks

* Fixed homography on multicam

* Adding marker detection time for convenience

* Added missing MIP 36h12 tag family in UI
This commit is contained in:
matlabbe
2026-05-26 17:43:34 -07:00
committed by GitHub
parent 49aa566613
commit 4756474367
23 changed files with 3561 additions and 2136 deletions
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2
Version.h.in
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@@ -93,6 +93,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@TORCH@#define RTABMAP_TORCH
@PYTHON@#define RTABMAP_PYTHON
@MADGWICK@#define RTABMAP_MADGWICK
@APRILTAG@#define RTABMAP_APRILTAG
@APRILTAG_ARUCO@#define RTABMAP_APRILTAG_WITH_ARUCO
#include <pcl/pcl_config.h>